CN108469207A - Launching technique, transmitting automatic control method and the launch control system of carrier rocket - Google Patents
Launching technique, transmitting automatic control method and the launch control system of carrier rocket Download PDFInfo
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- CN108469207A CN108469207A CN201810102493.8A CN201810102493A CN108469207A CN 108469207 A CN108469207 A CN 108469207A CN 201810102493 A CN201810102493 A CN 201810102493A CN 108469207 A CN108469207 A CN 108469207A
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- rocket
- engine
- preliminary command
- ignition
- command
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/01—Arrangements thereon for guidance or control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F3/00—Rocket or torpedo launchers
- F41F3/04—Rocket or torpedo launchers for rockets
- F41F3/048—Means for imparting spin to the rocket before launching
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Testing Of Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a kind of launching technique of carrier rocket, transmitting automatic control method and launch control systems.The launching technique includes：Preliminary command firing command is sent to rocket to be launched, to which the engine of the rocket to be launched executes preliminary command igniting；The work state information of the engine preliminary command igniting is obtained, and transmitting operation is selected according to the work state information；Wherein, when the engine reaches preliminary command state, firing command is enabled to the rocket transmission to be launched is main.The launching technique of the carrier rocket can make rocket take-off process controllable, avoid rocket from launching failure occur in the risk highest engine cold-start stage, to improve the launching success rate of carrier rocket.
Description
Technical field
The present invention relates to carrier rocket technology fields, and in particular to a kind of launching technique of carrier rocket, transmitting are from prosecutor
Method and launch control system.
Background technology
Hold-Down and Release Technique refers in a period of time, passing through Hold down and release device after Launch Vehicle Engine igniting
Rocket to be launched is fixed on transmitting station.During this period, whether the work of fault detection system detection rocket is normal, and is confirming
After rocket is working properly, Hold down and release device discharges rocket, to which rocket goes up to the air under the thrust of engine.Hold down and release
Technology is to ensure that rocket launching success, ensures the important means of launching site safety.
Currently, the carrier rocket in China not yet uses Hold down and release technology.The Hold down and release technology of other countries configures
Complicated machinery and electrical equipment, these electromechanical equipments are not only complicated, but also of high cost.In consideration of it, it is urgent to provide one
The Hold down and release technology that kind is easy to operate, of low cost, reliability is high.
Invention content
For above-mentioned technical problem in the related technology, the present invention propose a kind of carrier rocket launching technique and transmitting from
Prosecutor method.The launching technique of the carrier rocket can make rocket take-off process controllable, avoid rocket in the highest engine of risk
There is launching failure in cold-start phase, to improve the launching success rate of carrier rocket.
One aspect of the present invention provides a kind of launching technique of carrier rocket.The launching technique includes：To be launched
Rocket sends preliminary command firing command, to which the engine of the rocket to be launched executes preliminary command igniting；It is pre- to obtain the engine
The work state information of igniting is enabled, and transmitting operation is selected according to the work state information；Wherein, it is reached in the engine
When to preliminary command state, primary ignition instruction is sent to the rocket to be launched.
In one embodiment, which further includes the default preliminary command duration of ignition；It is described according to the working condition
Information selection transmitting, which operates, further includes：When at least an engine does not reach preliminary command state, the shape of all engines is examined
Whether state is normal；If it is not, then sending engine emergency shutdown command to the rocket to be launched；If it is, further inspection
Whether the preliminary command duration of ignition for testing the not up to engine of preliminary command state has exceeded the default preliminary command duration of ignition；If described
The preliminary command duration of ignition without departing from the default preliminary command duration of ignition, then continues to examine whether the engine reaches preliminary command state；
If the preliminary command duration of ignition has exceeded the default preliminary command duration of ignition, emergency cutoff is sent to the rocket to be launched
Instruction, to which rocket engine executes emergency cutoff.
In one embodiment, this method further includes the default preliminary command duration of ignition；It is described to obtain what engine preliminary command was lighted a fire
Work state information includes：Obtain the thrust parameter information of the engine；It is described to select to send out according to the work state information
Penetrating operation further includes：Determine whether according to whether the thrust parameter reaches preliminary command state within the default preliminary command duration of ignition
It is instructed to rocket launching primary ignition.
In one embodiment, described that whether institute is reached within the default preliminary command duration of ignition according to the thrust parameter
It states preliminary command state and determines whether that the instruction of rocket launching primary ignition includes：The thrust ginseng within the default preliminary command duration of ignition
When counting to up to the preset ratio range of normal thrust, primary ignition instruction is sent to the rocket to be launched.
In one embodiment, the 50%-90% of the preset ratio ranging from normal thrust.
In one embodiment, the 65%-75% of the preset ratio ranging from normal thrust.
In one embodiment, this method further includes：By limiting mechanism by the rocket to be launched and rocket launching pad
Connection；It is described to determine whether fire according to whether the thrust parameter reaches preliminary command requirement within the default preliminary command duration of ignition
Arrow transmitting primary ignition, which instructs, further includes：The thrust parameter reaches the default of normal thrust within the default preliminary command duration of ignition
When proportional region, releases the limiting mechanism and the containing of the rocket to be launched is limited, and sent out to the rocket to be launched
Primary ignition is sent to instruct.
In one embodiment, the limiting structure includes blasting bolt；It is described within the default preliminary command duration of ignition
When the thrust parameter reaches the preset ratio range of normal thrust, releases the limiting mechanism and the rocket to be launched is led
System limits：When the thrust parameter reaches the preset ratio range of normal thrust, the blasting bolt is ignited.
Another aspect of the present invention provides a kind of transmitting automatic control method of carrier rocket.This method includes：It is to be launched
Rocket receives preliminary command firing command, and the engine of the rocket to be launched executes preliminary command igniting；It is pre- to detect the engine
The work state information of igniting is enabled, and transmitting operation is selected according to the work state information, wherein is reached in the engine
When to preliminary command state, the main order igniting of engine is executed.
In one embodiment, which further includes the default preliminary command duration of ignition；It is described according to work state information
Selection transmitting, which operates, includes：When at least an engine does not reach preliminary command state, examine all engines state whether
Normally；If it is not, then the rocket to be launched executes the emergency cutoff of engine；
If it is, whether the preliminary command duration of ignition for the engine for being not up to preliminary command state is further examined to exceed default
The preliminary command duration of ignition；If the preliminary command duration of ignition without departing from the default preliminary command duration of ignition, continues to examine the engine
Whether preliminary command state is reached, if the preliminary command duration of ignition has exceeded the default preliminary command duration of ignition, the rocket to be launched
Execute the emergency cutoff of engine.
In one embodiment, which further includes the default preliminary command duration of ignition；The detection engine is pre-
Enable igniting work state information include：Detect the thrust parameter of the engine within the default preliminary command duration of ignition whether
Rise to the preset ratio range of its normal thrust；It is described to include according to work state information selection transmitting operation：Described pre-
If the thrust parameter rises to the preset ratio range of normal thrust in the preliminary command duration of ignition, the engine executes principal point
Fire, and when the thrust parameter does not rise to the preset ratio range of normal thrust within the default preliminary command duration of ignition,
The engine executes emergency cutoff.
In one embodiment, the 50%-90% of the preset ratio ranging from normal thrust.
In one embodiment, the thrust parameter within the default preliminary command duration of ignition rises to normal thrust
Preset ratio range when, the engine execute primary ignition before include：It releases and connects the rocket to be launched and rocket hair
Penetrate limitation of the limiting mechanism of platform to the rocket to be launched.
In one embodiment, the limiting mechanism includes blasting bolt；It is described within the default preliminary command duration of ignition
When the thrust parameter rises to the preset ratio range of normal thrust, the engine executes primary ignition and includes before：It ignites
Connect the blasting bolt between the rocket to be launched and rocket launch platform.
Another aspect of the invention provides a kind of launch control system of carrier rocket.The launch control system includes
Receiving module, detection module and control module；The wherein described receiving module is for receiving preliminary command firing command, the control module
Engine for controlling rocket to be launched executes preliminary command igniting；The detection module is for detecting the engine preliminary command igniting
Work state information；The control module is additionally operable to select transmitting operation according to the work state information, wherein described
Engine reaches preliminary command state constantly, and the control module controls the engine and executes main order igniting.
In one embodiment, the control module is additionally operable to the default preliminary command duration of ignition；Do not have in an at least engine
Have that when reaching preliminary command state, the detection module examines the state of all engines whether normal；If it is not, then the control mould
Block controls the emergency cutoff that the rocket to be launched executes engine；It is not reached if it is, the detection module is further examined
Whether the preliminary command duration of ignition to the engine of preliminary command state has exceeded the default preliminary command duration of ignition；If when the preliminary command igniting
Between without departing from the default preliminary command duration of ignition, then the detection module continues to examine whether the engine reaches preliminary command state, such as
The preliminary command duration of ignition described in fruit has exceeded the default preliminary command duration of ignition, then the control module control rocket to be launched executes
The emergency cutoff of engine.
In one embodiment, the control module is additionally operable to the default preliminary command duration of ignition；The detection module is for examining
Whether the thrust parameter for surveying the engine rises to the preset ratio range of its normal thrust；The control module is additionally operable to
When the thrust parameter rises to the preset ratio range of normal thrust in the default preliminary command duration of ignition, start described in control
Machine executes main order igniting, and does not rise to the pre- of normal thrust within the default preliminary command duration of ignition in the thrust parameter
If when proportional region, controlling the engine and executing emergency cutoff.
In one embodiment, launch control system further includes limitation module, and the limitation module is used for will be described pending
It penetrates rocket and is limited in rocket launch platform, the control module is used for the thrust parameter within the default preliminary command duration of ignition
When rising to the preset ratio range of normal thrust, it is first released from the limitation module and the transmitting of the rocket to be launched is limited
System controls the engine and executes main order igniting later.
In this embodiment, the limitation module includes blasting bolt, and the blasting bolt is used for the fire to be launched
Arrow is limited in rocket launch platform, and the control module is used for the thrust parameter within the default preliminary command duration of ignition and rises
To normal thrust preset ratio range when, control the blasting bolt and ignite, to release the blasting bolt to described pending
Penetrate the transmitting limitation of rocket.
In one embodiment, launch control system further includes transmitting module；The transmitting module is used for fire to be launched
Arrow sends preliminary command firing command or for enabling firing command to rocket to be launched transmission is main.
The launching technique and transmitting automatic control method of carrier rocket provided in an embodiment of the present invention, by the way that emission process to be divided into
Preliminary command ignition process and primary ignition process, can make rocket motor ignition take-off process controllable, greatly reduce rocket cold
The risk that start-up course breaks down improves successful launch rule.
In reading specific implementation mode and after checking attached drawing, those skilled in the art will recognize that other spy
It seeks peace advantage.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1-Fig. 2 is the launching technique flow chart of carrier rocket according to the ... of the embodiment of the present invention.
Fig. 3 is that thrust changes with time schematic diagram during being lighted a fire with main orders according to the igniting of the preliminary command of the embodiment of the present invention.
Fig. 4 be the embodiment of the present invention launching technique according to the work state information of engine select transmitting operation one
The step flow chart of embodiment.
Fig. 5-Fig. 6 is the transmitting automatic control method flow chart of the carrier rocket of the embodiment of the present invention.
Fig. 7 is the carrier rocket emission process flow chart of the embodiment of the present invention.
Fig. 8 a- Fig. 8 c are the launch control system block diagram of the embodiment of the present invention.
Specific implementation mode
Technical solution to further illustrate the present invention below with reference to the accompanying drawings and specific embodiments.Such as " under
Face ", " lower section ", " ... under ", " low ", " top ", " ... on ", the spatial relationship term of "high" etc. for keeping description convenient,
To explain positioning of the element relative to second element, indicate in addition to from shown in figure those be orientated different orientations with
Outside, these terms are intended to cover the different orientation of device.In addition, for example " element is in another element up/down " can be with table
Show that two elements are in direct contact, can also indicate that also there are other elements between two elements.In addition, such as " first ", " the
Two " etc. term is also used for describing each element, area, part etc., and should not be regarded as limiting.Similar term is logical in description
Similar element is indicated in.
The Hold-Down and Release Technique used in carrier rocket transmitting can detect rocket engine after rocket firing
Working condition.And rocket launching can be terminated in advance when detecting the failure of such as engine, to avoid due to rocket
The failure of engine leads to the damage of entire rocket body, while also ensuring the safety of transmitter site.Therefore, Hold down and release technology is
It improves the reliability of rocket launching and ensures the important technical of launching site safety.For the fire using Hold down and release technology
Arrow, if rocket directly discharges after motor power reaches predetermined value, the high thrust generated suddenly rocket can be caused compared with
Big overload, and then it is easy to cause the damage of instrument on arrow.It therefore, can be right before rocket leaves rocket launching pad lift-off
Rocket carries out slow release, to protect the safety of instrument on rocket and arrow.
External Hold down and release scheme mostly uses the electric device of larger mechanical structure and complexity.On the one hand,
These complicated structures can lead to the reliability decrease of Hold down and release system, to improve the risk of rocket launching.Another party
Face, these schemes are more demanding to the synchronism of Hold down and release device, also increase technical difficulty and the life of Hold down and release device
Produce cost.
In consideration of it, one aspect of the present invention provides a kind of launching technique of carrier rocket.Referring to Fig. 1, the launch party
Method includes：S100 sends preliminary command firing command to rocket to be launched, and preliminary command point is executed to the engine of the rocket to be launched
Fire；S200 obtains the work state information of the engine preliminary command igniting and S300 is selected according to the work state information
Transmitting operation；Wherein, when engine reaches preliminary command state, firing command is enabled to the rocket transmission to be launched is main.The present invention
The launching technique of offer, by sending preliminary command firing command to rocket first, and according to the working condition of preliminary command firing command, choosing
It selects and whether sends primary ignition instruction, rocket launching can be terminated in time when rocket engine cold start-up is broken down, in addition,
The stabilizing moment that rocket dead weight generates also adequately is utilized in the present invention, and avoiding rocket forward thrust imbalance of taking off may cause
Rocket topple, to improve carrier rocket transmitting reliability.
It should be noted that before sending preliminary command firing command to rocket, for example, it is also possible to be on the arrow including rocket
The step of system is examined.For example, in system test qualification on arrow, the step of sending preliminary command firing command to rocket is just executed.Phase
Instead, if system test is unqualified on arrow, transmitting can be terminated.It waits for again referring to rocket transmission preliminary command igniting after troubleshooting
It enables.
In addition, rocket engine can also include more.In the case where Launch Vehicle Engine includes more, for example,
The work state information of the preliminary command firing command of each engine can be obtained, and and if only if the preliminary command of all engines is lighted a fire
When working condition is all normal, just firing command is enabled to rocket transmission is main.For example, if there is preliminary command process occurs for an engine not
Situations such as normal, and/or abnormal and/or thrust of lighting a fire is abnormal (namely engine is unsatisfactory for pre- writ after a certain time
State) when, all engine emergencies can be made to shut down in advance, failed to avoid rocket launching.In addition, due to engine starting process
Asynchronism, can preset Check-Out Time (i.e. the preliminary command duration of ignition).Within the predetermined time, if there is an engine
Do not reach preliminary command working condition, then implement the emergency cutoff of all engines, and terminates transmitting.That is, in pre- timing
Between in range, can reach preliminary command state in all engines, just to rocket send it is main enable firing command, to ensure rocket
Secure transmission.
Under normal conditions, for example, the preliminary command igniting decompression process of the first class engine of rocket is about 3 seconds, time irreversibility
About 0.1 second.Therefore, the above-mentioned default preliminary command duration of ignition can be 3.1-3.2 seconds.Main order igniting boost process is about 1 second, no
Synchronous about 0.03 second.The main thermal starting for enabling the course of work of ignition phase be similar to engine, the reliability of work is significantly
Preliminary command higher than cold-start phase is lighted a fire, and the asynchronism of the thrust rise time of main order igniting is also significantly smaller than preliminary command igniting
Stage.Therefore, it by the present invention in that engine executes two step start-up courses, can be very good to avoid the engine of high risk is cold from opening
The dynamic stage emits accident caused by breaking down.After rocket takes off, system can carry out the flight attitude of rocket on arrow
Control, to mutually be connected with the operation after the igniting of rocket preliminary command and when being in rocket launching pad, it is ensured that rocket posture is controlled.
In one embodiment, the step S300 selects to emit to operate according to the work state information further includes：
When preliminary command igniting is abnormal, emergency cutoff instruction is sent to the rocket to be launched, to which the engine executes emergency cutoff.Example
Such as, preliminary command igniting it is abnormal may include engine solution protect exception, communication abnormality, can not light a fire, back pressure of lighting a fire extremely or
Miscellaneous equipment exception of engine etc..The embodiment of the present invention is by when preliminary command lights a fire appearance exception, making engine emergency close
Machine, it can be ensured that the safety at rocket and launching site.
In this embodiment, if carrier rocket includes more engines, which can also include default preliminary command
The duration of ignition.The step S300 selects transmitting to operate according to the work state information：In an at least engine
When not reaching preliminary command state, examine the state of all engines (for example, the state of engine may include the solution of engine
Protect, the state after each component working and preliminary command igniting, the preliminary command igniting of engine, and the thrust etc. after igniting) whether just
Often.If it is not, then sending engine emergency shutdown command to the rocket to be launched.It is not reached in advance if it is, further examining
Whether the preliminary command duration of ignition to the engine of preliminary command state has exceeded the default preliminary command duration of ignition.If the preliminary command point
The fiery time without departing from the default preliminary command duration of ignition, then continues to examine whether the engine reaches preliminary command state；If institute
Stating the preliminary command duration of ignition has exceeded the default preliminary command duration of ignition, then sends emergency cutoff instruction to the rocket to be launched,
To which rocket engine executes emergency cutoff.The carrier rocket launching technique of the embodiment of the present invention is lighted a fire by default preliminary command
Time, and the state of each engine in the preliminary command duration of ignition is examined, the reliability of carrier rocket transmitting can be improved.
Referring to Fig. 2, in one embodiment, which further includes that S1001 presets the preliminary command duration of ignition.Step S200
Obtaining the work state information that engine preliminary command is lighted a fire includes：S2001 obtains the thrust parameter information of the engine.Step
S300 selects transmitting to operate according to the work state information：S3001 is according to the thrust parameter described default pre-
Enable whether reach in the duration of ignition preliminary command state determine whether rocket launching primary ignition instruct.It may be noted that engine pushes away
Can force parameter be the primary factor that judges the key message of engine behavior and rocket and smoothly go up to the air.The present invention's
Embodiment by examine engine ignition after thrust parameter information, can preferably measured engine working condition, to
Further increase the reliability of rocket launching.
It should be noted that thrust parameter for example may include thrust magnitude and thrust direction.For example, in engine ignition
In preset time range later, the thrust magnitude and thrust direction of engine should meet pre-set level (namely preliminary command state).
, whereas if being preset in the preliminary command duration of ignition in engine, the thrust magnitude and/or thrust direction of engine are unsatisfactory for default finger
Mark, then judge engine operation irregularity, for example, in the case of engine operation irregularity rocket launching can be terminated in advance.
In one embodiment, S301 determines whether rocket according to the thrust parameter within the default preliminary command duration of ignition
Emit and main enables the firing command include：In the preset ratio for presetting the thrust parameter arrival normal thrust in the preliminary command duration of ignition
When range, primary ignition instruction is sent to the rocket to be launched.For example, the 50%- of the preset ratio ranging from normal thrust
90%.Further, the 65%-75% of the preset ratio ranging from normal thrust.Under normal conditions, thrust rises to specified
The amplitude of thrust by rocket engine characteristic and the quality of taking off of carrier rocket can determine.Fig. 3 illustrates one kind and starts
The preliminary command ignition phase S1 of machine with it is main enable ignition phase S2 (abscissa be time t, ordinate be engine ignition after thrust
f).Wherein, in the embodiment shown in fig. 3, in preliminary command ignition phase S1, the thrust of engine rises to normal thrust
70%.tzlWith t70Between be illustrated as engine hours it is asynchronous namely above-mentioned preset time can be tzl, to raising pair
The accuracy of engine preliminary command ignition operation condition adjudgement avoids generation will be due to the time not enough below standard erroneous judgement of caused thrust
For engine preliminary command ignition failure the case where, to improve the reliability of rocket launching.As previously mentioned, some typical delivery fire
The time of the preliminary command igniting of the engine of arrow is about 3 seconds, and time irreversibility is about 0.1 second.The main time for enabling igniting is about
It it is 1 second, time irreversibility is about 0.03 second.
In this embodiment, for example, if rocket takes the free radiation pattern of no pinning assembly limitation, in engine
Preliminary command igniting during, thrust can rise to the take-off weight for being slightly less than rocket.For example, thrust is to be pushed away when rocket being made to take off
The 1/3-99/100 of power.Thus by making the thrust of preliminary command igniting substantially close to thrust when rocket being made to take off, it can be better
The launcher reliability of engine is verified, improves the successful probability of rocket launching, and when rocket carries out primary ignition, rocket can be with
Steady lift-off, will not damage instrument on arrow.
For example, if rocket is limited in rocket launch platform by limiting mechanism, thrust can rise to be slightly less than or
Slightly larger than the take-off weight of rocket.For example, thrust can rise to the 3/5-8/7 of thrust when rocket being made to take off.In limiting mechanism
When releasing the limitation to rocket, if motor power is slightly less than the take-off weight of rocket, rocket still can be in its own gravity
Effect is lower to keep stablizing, and with the main unlatching for enabling ignition process, the thrust of engine is gradually increasing, to be generated in engine
Thrust be more than take-off weight when, rocket steadily goes up to the air.Equally, if when limiting mechanism releases the limitation to rocket, start
When the thrust that machine thrust needs when taking off slightly larger than rocket, rocket will not be when limiting mechanism releases the containing to rocket and limits
By excessive shock loading, so as to avoid the damage of instrument on arrow.When the embodiment of the present invention is by setting preliminary command igniting
Thrust range, it can be ensured that rocket steadily takes off, or will not be impacted by compared with big overload, and then improves rocket and take off
Stationarity, and protect the safety of instrument on arrow.
In one embodiment, this method further includes：By limiting mechanism by the rocket to be launched and rocket launching pad
Connection, to which rocket to be launched to be pinned on rocket launching pad.Referring to Fig. 4, S3001 is according to the thrust parameter default pre-
Enable whether reach in the duration of ignition preliminary command state determine whether rocket launching primary ignition instruction further include：S3002 is default pre-
When enabling the preset ratio range of the thrust parameter arrival normal thrust in the time, the limiting mechanism is released to described to be launched
The containing of rocket limits and S3003 enables firing command to the rocket transmission to be launched is main.The embodiment of the present invention is by setting
Limiting mechanism is set, can be to avoid rocket when by the larger thrust of engine (for example, close to rocket take off required thrust), fire
Arrow by external force (for example, wind-force etc.) due to being occurred the case where translating, turning on one's side or tilting on rocket launching pad, further
Improve the reliability of rocket launching.
In one embodiment, the limiting mechanism includes blasting bolt；The thrust within the default preliminary command time
When parameter reaches the preset ratio range of normal thrust, releases the limiting mechanism and packet is limited to the containing of the rocket to be launched
It includes：When the thrust parameter reaches the preset ratio range of normal thrust within the default preliminary command time, the blasting bolt is ignited.
That is, rocket can by blasting bolt (for example, in order to ensure rocket stress balance, can be in rocket and flat pad
Between be evenly arranged multiple blasting bolts) be simply connected on rocket launch platform, to rocket before carrying out primary ignition,
Guarantee bolt can be ignited first, and then improves reliability and synchronism that rocket is detached with transmitting station.In addition, by with rocket
It is not provided with special release device between transmitting station, is connected only by blasting bolt, therefore rocket is emitting standing
When platform, the mode for connecting with freely discharging completely of bottom and rocket launching pad therefore, there is no need to without significant difference to existing
Transmitting station carries out larger improvement, saves cost, improves rocket launching efficiency.
Another aspect of the present invention provides a kind of transmitting automatic control method of carrier rocket.Referring to Fig. 5, this method packet
It includes：S110 rockets to be launched receive preliminary command firing command, and the engine of the rocket to be launched executes preliminary command igniting；S210
The work state information and S310 for detecting the engine preliminary command igniting select transmitting behaviour according to the work state information
Make, wherein when engine reaches preliminary command state, execute the main order igniting of engine.The carrier rocket of the present invention emits automatic control
Method can be to avoid engine in Cold Start by the way that engine ignition process is divided into preliminary command igniting and main order igniting
Failure, to greatly improve the reliability of rocket launching.
In this embodiment, it after equipment is by inspection on rocket arrow, can be lighted a fire from hair control personnel to rocket motor preliminary command
Instruction.Rocket can send preliminary command ignition signal, and then engine is executed after receiving preliminary command firing command to engine
Preliminary command is lighted a fire.For example, the working condition that equipment can light a fire from the preliminary command of performing check engine on the arrow of rocket, and in preliminary command point
In the case of fiery working condition normal (reaching default preliminary command state), it can be lighted a fire from equipment on arrow to the main order of engine start
Instruction.That is, rocket is from mission control-center other than receiving preliminary command firing command, the overall process of rocket launching by
Rocket voluntarily executes, to realize the full-automatic controllable transmitting of rocket.
In this embodiment, for example, it is also possible to be sent out the inspection result of the preliminary command ignition operation state of engine by rocket
Hair control center is given, to which, according to inspection result, judgement is by the data processing equipment at hair control center or hair control operating personnel
It is no to enable firing command to rocket transmission the main of engine.The embodiment of the present invention is not made to have to the main body that preliminary command ignition parameter is examined
Body limits.
In one embodiment, S310 selects to emit to operate according to work state information includes：In the abnormal (example of preliminary command igniting
Such as, within the default preliminary command duration of ignition, engine does not reach preliminary command state) when, execute the emergency cutoff of engine.For example,
When there are abnormal engine components or igniting in the engine preliminary command stage when abnormal or igniting back pressure exception,
Shutdown command can be sent from rocket to engine, to which engine executes emergency cutoff.As described above, can also be incited somebody to action by rocket
The work state information of engine is sent to mission control-center, by the control device or operating personnel at hair control center to starting
The work state information of machine preliminary command igniting carries out automatic or manual judgement, and sends main order igniting to rocket according to judging result and refer to
Order or engine emergency shutdown command.
Referring to Fig. 6, in one embodiment, which further includes that S1101 presets the preliminary command duration of ignition.S210
Detecting the work state information that the engine preliminary command is lighted a fire includes：The thrust parameter that S2101 detects the engine is pre- at this
If whether rising to the preset ratio range of its normal thrust in the preliminary command duration of ignition；S310 selects to send out according to work state information
Penetrating operation includes：S3101 when this presets that the thrust parameter rises to the preset ratio range of normal thrust in the preliminary command time,
The engine executes primary ignition, and presets the thrust parameter in the preliminary command duration of ignition and do not rise to normal thrust at this
When preset ratio range, the engine executes emergency cutoff.The rocket launching control method of the embodiment of the present invention, by making
The thrust of the engine of preliminary command igniting rises to preset ratio range, on the one hand can more accurately examine the workability of engine
Energy；On the other hand it can make standing on rocket launch platform for rocket stabilization, avoid rocket due to caused by force unbalance
Rollover tilts, and improves the reliability of rocket launching.
In this embodiment, for example, the 50%-90% of the preset ratio ranging from normal thrust.For example, preset ratio
It may range from the 60%-80% of normal thrust.For example, preset ratio may range from the 65%-75% of normal thrust.Example
Such as, in some typical rockets, preset ratio may range from the 69%-71% of normal thrust.The embodiment of the present invention is logical
The proportional region for further limiting default thrust is crossed, the reliability verified to rocket engine working performance can be improved, to
Improve the reliability of rocket launching.
In this embodiment, as it was noted above, for example, in the case where not using limiting mechanism, above-mentioned default thrust can
To be slightly less than the thrust for making rocket take off.For example, using limiting mechanism, above-mentioned default thrust can be slightly less than
Make the thrust that rocket takes off to slightly larger than making between the thrust that rocket takes off.The embodiment of the present invention by make preliminary command light a fire hair
Motivation thrust rises near the thrust for making rocket take off, and can improve the accuracy verified to engine performance, and can carry
The reliability of high rocket launching.
In one embodiment, S3101 thrust parameters within the default preliminary command duration of ignition rise to normal thrust
When preset ratio range, the engine executes main order igniting and includes before：It releases and connects the rocket to be launched and rocket hair
Penetrate limitation of the limiting mechanism of platform to the rocket to be launched.The embodiment of the present invention is first by after preliminary command igniting passes through
It first releases and treats the limitation fired a rocket, then carry out primary ignition, the reliability of rocket launching can be improved.
For example, the limiting mechanism includes blasting bolt.S3101 rises to the default of normal thrust in the thrust parameter
When proportional region, the engine executes primary ignition and includes before：It ignites and connects the rocket to be launched and rocket launch platform
Between blasting bolt.On the one hand the embodiment of the present invention can improve release fire by using blasting bolt simple in structure
The reliability of arrow；On the other hand, can also avoid carrying out larger improvement to rocket launch platform, so reduce rocket launching at
This, improves the versatility of rocket launch platform.
Fig. 7 is the rocket launching flow diagram of the embodiment of the present invention.Referring to Fig. 7, before carrier rocket transmitting, first into
Row penetrates preceding test, if the preceding test of penetrating of rocket to be launched does not pass through, directly terminates transmitting.If test is normal before penetrating,
Carry out the preliminary command igniting of engine.Include multi-engined in rocket, for example, only when all engines all reach
When preliminary command state, the step of transmitting after just carrying out.For example, limiting mechanism is set between rocket and flat pad, for example, it is quick-fried
When fried bolt, ignited blasting bolt can be connect first, and the main order followed by engine is lighted a fire., whereas if having at least
Whether one engine does not reach preliminary command state, then examine the state of all engines normal, if it is not, then directly being sent out
The emergency cutoff of motivation, and terminate transmitting.If the state of all engines is normal, further judge not reach preliminary command
Whether the preliminary command igniting of the engine of state is overtime, if it is, executing the emergency cutoff of all engines, and terminates transmitting.
If preliminary command igniting is not timed-out (that is, more than default preliminary command duration of ignition, for example, 3.1 seconds), then all hairs are further examined
Whether the motivation engine of preliminary command state (or not up to) reaches preliminary command state, and executes engine according to inspection result
The main emergency cutoff for enabling igniting or engine, or cycle proceed as described above.
With continued reference to Fig. 7, if engine work is abnormal, engine is executed after mobilizing owner to enable igniting
Emergency cutoff, and terminate transmitting.If engine is working properly, judge whether taking off for rocket be overtime, if it is, continuing
Execute the emergency cutoff of engine.It is not timed-out if rocket takes off, rocket normally takes off.After rocket takes off, emission control
Process terminates.After rocket takes off, such as, it is also necessary to further judge whether rocket is that thrust-balancing takes off, if it is, right
Rocket carries out conventional gesture stability.It is started to control if it is not, then rocket starts thrust imbalance posture, and carries out trajectory reconstruct, with
Ensure rocket normal transmission.
Another embodiment of the present invention provides a kind of launch control system of carrier rocket.Referring to Fig. 8 a, the emission control
System 1 includes receiving module 10, detection module 20 and control module 30.The wherein described receiving module 10 is for receiving preliminary command igniting
Instruction, the engine that the control module 30 is used to control rocket to be launched execute preliminary command igniting；The detection module 20 is used for
Detect the work state information of the engine preliminary command igniting.The control module 30 is additionally operable to according to the work state information
Selection transmitting operation, wherein when engine reaches preliminary command state, control engine executes primary ignition.The embodiment of the present invention
Rocket motor ignition process is divided into preliminary command igniting and main order is lighted a fire two stages by the emission control control system of offer, from
And can preliminary command light a fire occur abnormal when, emergency cut-off engine, to improve the reliability of rocket launching, it is ensured that rocket and
Launching site safety.
It should be pointed out that receiving module 10 and control module 30 can be equipment on the arrow for be set to rocket.For example, connecing
It can be the receiver for receiving command signal to receive module 10.For example, control module 30 can be the controller set on rocket,
To which when receiving module receives preliminary command firing command, control module can send preliminary command firing command to engine, to
Engine executes preliminary command igniting.For example, receiving module 10 receive it is main enable firing command in the case of, control module 30 can be with
Firing command signal is enabled to engine transmission is main, to which engine executes main order igniting.Equally, hair is received in receiving module 10
When motivation shutdown command signal, shutdown command signal can be sent to engine by control module 30, to which engine executes tightly
Anxious shutdown command.
Referring to Fig. 8 b, in this embodiment, for example, control module 30 can also be set to mission control-center.In this feelings
Under condition, rocket can also include transmitting module 40, for example, transmitting module 40 is used for the hair of control module 30 set on control centre
Send the information in relation to engine behavior.For example, being arranged in the case of mission control-center in control module 30, control refers to
Order can be sent out by mission control-center.Equipment (receiver) is responsible for receiving the command signal of mission control-center i.e. on arrow,
And transmitting module 40 (transmitter) is used to the preliminary command ignition operation status information etc. of engine being sent to mission control-center.
Referring to Fig. 8 c, for example, it is also possible to control module 31,32 be respectively included on mission control-center and arrow, to arrow
The control module 32 at upper control module 31 and hair control center realizes that preliminary command firing command and/or main orders are lighted a fire by coordinating jointly
The execution of the shutdown command of instruction and/or engine.For example, initial preliminary command firing command is sent by mission control-center, rocket
Arrow on receiver after receiving preliminary command firing command, can from control device on the arrow of rocket to engine send preliminary command
Firing command, to which engine executes preliminary command firing command.Then, detection module 20 can detect engine and execute preliminary command on arrow
The work state information of igniting.Later, on the one hand, on arrow control device can voluntarily according to work state information judge whether to
Sustainer transmission is main to enable firing command.On the other hand, engine behavior can also be believed by signal transmitting equipment on arrow
Breath is sent to the control module 32 set on mission control-center, to be determined from the control module 32 of mission control-center to rocket
Receiving module 10 send and main firing command or engine cutoff enabled to instruct.
In this embodiment, in order to further increase the reliability of transmitting, for example, (the control mould of equipment on arrow can be arranged
Block) operator precedence grade with hair control center.For example, hair control center could be provided as having higher operator precedence grade, i.e. hair control
Center can it is main enable firing command send out before, at any time selection terminate or continue rocket launching.Sentence for example, it is also possible to which two level is arranged
Off line system is judged the subsequent operation of rocket by hair control center according to the preliminary command ignition operation status information of engine first, and
And to rocket send out it is main enable firing command when, the control module 31 of rocket further judges the work state information (for example, arrow
Upper control module can the constantly preliminary command igniting of more new engine work state information, to receiving mission control-center
It is main when enabling firing command, can further determine whether to meet preliminary command according to the newest work state information of such as engine
State), to only control module on the arrow for sending out control center and rocket allow to send simultaneously it is main enable firing command when, just to starting
Machine transmission is main to enable firing command.Otherwise, rocket voluntarily executes the emergency cutoff of engine.For the principal point of this set priority
Fire instruction judges, for example, it can be being judged first by control module on arrow 31, and is judging by (can be sent out to rocket
Primary ignition is sent to instruct) when, secondary judgement is carried out by the control module 32 or hair control operating personnel at hair control center, to improve to hair
The accuracy that motivation preliminary command ignition operation status information judges.During the embodiment of the present invention is controlled by control module on arrow 31 with hair
The control module 32 of the heart with and, the main reliability for enabling firing command can be improved, further increase the success rate of rocket launching.
In one embodiment, control module 30 is additionally operable to the default preliminary command duration of ignition.The detection module 20 is for examining
Whether the thrust parameter for surveying the engine rises to the preset ratio range of its normal thrust within the default preliminary command duration of ignition.
The control module 30 is additionally operable to the preset ratio that the thrust parameter within the default preliminary command duration of ignition rises to normal thrust
When range, control the engine and execute primary ignition, and within the default preliminary command duration of ignition thrust parameter when default
In when not rising to the preset ratio range of normal thrust, control the engine and execute emergency cutoff.The transmitting of the present invention
Control system can preferably examine the working performance of engine, improve successful launch by detecting motor power parameter value
Rate.
For example, control system can also include the transmitting module being arranged in mission control-center；The transmitting module is used for
Preliminary command firing command is sent to rocket to be launched or for enabling firing command to rocket to be launched transmission is main.As described above, control
System can also include the transmitting module being arranged on arrow, the work which is used to light a fire the preliminary command of rocket engine
Status information is sent to mission control-center.
The above embodiment of the present invention can be combined with each other, and have corresponding technique effect.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (18)
1. a kind of launching technique of carrier rocket, which is characterized in that including：
Preliminary command firing command is sent to rocket to be launched, to which the engine of the rocket to be launched executes preliminary command igniting；
The work state information of the engine preliminary command igniting is obtained, and
Transmitting operation is selected according to the work state information；Wherein, it when the engine reaches preliminary command state, is waited for described
Firing a rocket, transmission is main to enable firing command.
2. launching technique according to claim 1, which is characterized in that further include the default preliminary command duration of ignition；The basis
The work state information selection transmitting, which operates, further includes：
When at least an engine does not reach preliminary command state, examine the state of all engines whether normal；
If it is not, then sending engine emergency shutdown command to the rocket to be launched；
If it is, whether the preliminary command duration of ignition for the engine for being not up to preliminary command state is further examined to exceed described default
The preliminary command duration of ignition；If the preliminary command duration of ignition without departing from the default preliminary command duration of ignition, continues to examine the hair
Whether motivation reaches preliminary command state；If the preliminary command duration of ignition has exceeded the default preliminary command duration of ignition, to described
Rocket to be launched sends emergency cutoff instruction, to which the engine executes emergency cutoff.
3. launching technique according to claim 1, which is characterized in that further include the default preliminary command duration of ignition；The acquisition
Engine preliminary command igniting work state information include：
Obtain the thrust parameter information of the engine；
It is described to further include according to work state information selection transmitting operation：
According within the default preliminary command duration of ignition thrust parameter whether reach preliminary command state and determine whether described wait for
Firing a rocket, transmitting is main to enable firing command.
4. launching technique according to claim 3, which is characterized in that the basis is within the default preliminary command duration of ignition
Whether the thrust parameter, which reaches preliminary command state, determines whether that the rocket launching to be launched is main and enables the firing command include：
When the thrust parameter reaches the preset ratio range of normal thrust within the default preliminary command duration of ignition, waited for described
Firing a rocket, transmission is main to enable firing command.
5. launching technique according to claim 4, which is characterized in that the preset ratio ranging from normal thrust
50%-90%.
6. launching technique according to claim 5, which is characterized in that the preset ratio ranging from normal thrust
65%-75%.
7. according to claim 3-6 any one of them launching techniques, which is characterized in that further include：
The rocket to be launched is connect with rocket launching pad by limiting mechanism；
Whether basis thrust parameter within the default preliminary command duration of ignition, which reaches preliminary command state, determines whether institute
State that rocket launching to be launched is main to enable the firing command further include：
When the thrust parameter reaches the preset ratio range of normal thrust, the limiting mechanism is released to the fire to be launched
The containing of arrow limits, and
Firing command is enabled to the rocket transmission to be launched is main.
8. launching technique according to claim 7, which is characterized in that the limiting structure includes blasting bolt；It is described
When the thrust parameter reaches the preset ratio range of normal thrust, releases the limiting mechanism and the rocket to be launched is led
System limits：
When the thrust parameter reaches the preset ratio range of normal thrust, the blasting bolt is ignited.
9. a kind of transmitting automatic control method of carrier rocket, which is characterized in that including：
Rocket to be launched receives preliminary command firing command, and the engine of the rocket to be launched is according to the preliminary command firing command
Execute preliminary command igniting；
The work state information of the engine preliminary command igniting is detected, and
Transmitting operation is selected according to the work state information, wherein described to start when the engine reaches preliminary command state
Machine executes main order igniting.
10. transmitting automatic control method according to claim 9, which is characterized in that further include the default preliminary command duration of ignition；It is described
It selects to emit to operate according to work state information and includes：
When at least an engine does not reach preliminary command state, examine the state of all engines whether normal；If it is not, then
The rocket to be launched executes the emergency cutoff of engine；
If it is, further examining whether the preliminary command duration of ignition for being not up to preliminary command state has exceeded the default preliminary command igniting
Time；If the preliminary command duration of ignition without departing from the default preliminary command duration of ignition, continues whether to examine the engine
Reach preliminary command state, if the preliminary command duration of ignition has exceeded the default preliminary command duration of ignition, the rocket to be launched
Execute the emergency cutoff of engine.
11. transmitting automatic control method according to claim 9, which is characterized in that further include the default preliminary command duration of ignition；It is described
Detecting the work state information that the engine preliminary command is lighted a fire includes：
Whether detection thrust parameter of the engine within the default preliminary command duration of ignition rises to the pre- of its normal thrust
If proportional region；
It is described to include according to work state information selection transmitting operation：
When the thrust parameter rises to the preset ratio range of normal thrust within the default preliminary command duration of ignition, the hair
Motivation executes main order igniting, and the thrust parameter does not rise to the pre- of normal thrust within the default preliminary command duration of ignition
If when proportional region, the engine executes emergency cutoff.
12. transmitting automatic control method according to claim 11, which is characterized in that the preset ratio ranging from normal thrust
50%-90%.
13. transmitting automatic control method according to claim 11 or 12, which is characterized in that described to light a fire in the default preliminary command
When the thrust parameter rises to the preset ratio range of normal thrust in time, the engine wraps before executing primary ignition
It includes：
Release limitation of the limiting mechanism for connecting the rocket to be launched and rocket launch platform to the rocket to be launched.
14. transmitting automatic control method according to claim 13, which is characterized in that the limiting mechanism includes blasting bolt；
It is described when the thrust parameter rises to the preset ratio range of normal thrust within the default preliminary command duration of ignition, institute
It states before engine executes main order igniting and includes：
Ignite the blasting bolt connected between the rocket to be launched and rocket launch platform.
15. a kind of launch control system of carrier rocket, which is characterized in that including receiving module, detection module and control module；
The wherein described receiving module is for receiving preliminary command firing command, and the control module is for controlling starting for rocket to be launched
Machine executes preliminary command igniting；
The detection module is used to detect the work state information of the engine preliminary command igniting；
The control module is additionally operable to select transmitting operation according to the work state information, wherein reaches in the engine
Constantly, the control module controls the engine and executes main order igniting preliminary command state.
16. launch control system according to claim 15, which is characterized in that the control module is additionally operable to default preliminary command
The duration of ignition；
When at least an engine does not reach preliminary command state, whether just the detection module examines the state of all engines
Often；
If it is not, then the control module controls the emergency cutoff that the rocket to be launched executes engine；
If it is, whether the detection module further examines the preliminary command duration of ignition for the engine for being not up to preliminary command state
Beyond the default preliminary command duration of ignition；If the preliminary command duration of ignition is without departing from the default preliminary command duration of ignition, the inspection
It surveys module to continue to examine whether the engine reaches preliminary command state, if the preliminary command duration of ignition has exceeded described preset in advance
The duration of ignition is enabled, then the control module controls the emergency cutoff that the rocket to be launched executes engine.
17. launch control system according to claim 15, which is characterized in that the control module is additionally operable to default preliminary command
The duration of ignition；
Whether the thrust parameter that the detection module is used to detect the engine rises within the default preliminary command duration of ignition
To the preset ratio range of its normal thrust；
The control module is additionally operable to the thrust parameter within the default preliminary command duration of ignition and rises to the pre- of normal thrust
If when proportional region, controlling the engine and executing main order igniting, and light a fire in the default preliminary command in the thrust parameter
When not rising to the preset ratio range of normal thrust in the time, controls the engine and execute emergency cutoff.
18. according to claim 15-17 any one of them launch control systems, which is characterized in that further include transmitting module；
The transmitting module is used to send preliminary command firing command to rocket to be launched or for sending main enable a little to rocket to be launched
Fire instruction.
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| CN201810102493.8A CN108469207B (en) | 2018-02-01 | 2018-02-01 | Launch method, launch automatic control method and launch control system of carrier rocket |
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| CN109144089A (en) * | 2018-10-08 | 2019-01-04 | 五邑大学 | A kind of sounding rocket flight control system with pose adjustment function |
| CN109737828A (en) * | 2019-01-14 | 2019-05-10 | 北京星际荣耀空间科技有限公司 | A kind of rocket takeoff condition method of discrimination, system and equipment |
| CN110926277A (en) * | 2019-10-29 | 2020-03-27 | 北京星际荣耀空间科技有限公司 | Method and device for judging reserve takeoff of rocket |
| CN111142458A (en) * | 2019-12-05 | 2020-05-12 | 北京星际荣耀空间科技有限公司 | Solid carrier rocket engine exhaustion judging method, device and equipment |
| CN111928734A (en) * | 2020-08-28 | 2020-11-13 | 湖北航天技术研究院总体设计所 | Carrier launching module and carrier launching method |
| CN113091528A (en) * | 2021-03-05 | 2021-07-09 | 无锡赛米垦拓微电子有限公司 | Rocket launching control device and control method thereof |
| CN113756991A (en) * | 2021-09-17 | 2021-12-07 | 江苏深蓝航天有限公司 | Control method for remote control command end for rocket engine torch ignition and electronic equipment |
| CN113836645A (en) * | 2020-10-27 | 2021-12-24 | 深圳三零三防务科技有限公司 | Method for reconstructing online flight program of carrier rocket and keeping and controlling track height |
| CN115946875A (en) * | 2023-01-28 | 2023-04-11 | 北京星途探索科技有限公司 | Rocket-borne computer decision method and system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109144089A (en) * | 2018-10-08 | 2019-01-04 | 五邑大学 | A kind of sounding rocket flight control system with pose adjustment function |
| CN109737828A (en) * | 2019-01-14 | 2019-05-10 | 北京星际荣耀空间科技有限公司 | A kind of rocket takeoff condition method of discrimination, system and equipment |
| CN110926277A (en) * | 2019-10-29 | 2020-03-27 | 北京星际荣耀空间科技有限公司 | Method and device for judging reserve takeoff of rocket |
| CN111142458A (en) * | 2019-12-05 | 2020-05-12 | 北京星际荣耀空间科技有限公司 | Solid carrier rocket engine exhaustion judging method, device and equipment |
| CN111142458B (en) * | 2019-12-05 | 2020-09-08 | 北京星际荣耀空间科技有限公司 | Solid carrier rocket engine exhaustion judging method, device and equipment |
| CN111928734A (en) * | 2020-08-28 | 2020-11-13 | 湖北航天技术研究院总体设计所 | Carrier launching module and carrier launching method |
| CN113836645A (en) * | 2020-10-27 | 2021-12-24 | 深圳三零三防务科技有限公司 | Method for reconstructing online flight program of carrier rocket and keeping and controlling track height |
| CN113836645B (en) * | 2020-10-27 | 2024-02-02 | 深圳三零三防务科技有限公司 | On-line flight program reconstruction and orbit height maintenance control method for carrier rocket |
| CN113091528A (en) * | 2021-03-05 | 2021-07-09 | 无锡赛米垦拓微电子有限公司 | Rocket launching control device and control method thereof |
| CN113091528B (en) * | 2021-03-05 | 2022-05-24 | 无锡赛米垦拓微电子有限公司 | Rocket launching control device and control method thereof |
| CN113756991B (en) * | 2021-09-17 | 2023-02-28 | 江苏深蓝航天有限公司 | Control method for remote control command end for rocket engine torch ignition and electronic equipment |
| CN113756991A (en) * | 2021-09-17 | 2021-12-07 | 江苏深蓝航天有限公司 | Control method for remote control command end for rocket engine torch ignition and electronic equipment |
| CN115946875A (en) * | 2023-01-28 | 2023-04-11 | 北京星途探索科技有限公司 | Rocket-borne computer decision method and system |
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